ROS-Based Mobile Robot Design And Implementation Of System Platform

At present,there is a shortage of robot application talents,and many colleges and universities have opened robotics engineering.The mobile robot platform is an important carrier for the practical teaching of robot engineering.This paper develops a mobile robot platform based on the robot operating system ROS(Robot Operating System),which can be used in the practical teaching of robot related majors.The main work of this paper is as follows.This paper analyzes the research status of ROS operating system,the research status of robot practice teaching platform at home and abroad,and clarifies the functional requirements of the platform according to the practical teaching requirements of "Robot Engineering",and formulates the overall mechanical design and control design of the system.Finally,the physical construction of the mobile robot platform was realized.The principle of wheel speed PID algorithm and mileage calculation method is introduced.The kinematics model is established for the two-wheel differential drive robot mobile platform.Based on STM32F103 embedded development board,the wheel speed PID control algorithm and mileage calculation method are realized by C++ programming.The architecture,operation mechanism and hardware composition of the robot platform are analyzed.The serial communication protocol and wireless controller control protocol of ROS and STM32F103 are developed,and the functions of wireless remote control and realtime data acquisition are realized.Based on Google's cartographer function package and the move_base function package of the ROS system,key parameter programming is configured according to the platform hardware attributes,and the functions of map construction and autonomous navigation movement are realized.The mobile robot platform was tested by map construction and navigation through experiments.In the process of experiment,the main problems that are easy to appear in the map construction process are analyzed and the solutions are given.At the same time,the robot's autonomous navigation and positioning function test is carried out.The test results show that the robot designed in this paper can complete the map construction and navigation positioning in the indoor environment,and basically realize the predetermined function,which proves the feasibility of the mobile robot platform based on ROS system design.